CN111659979A - Power supply system of argon arc welding machine - Google Patents
Power supply system of argon arc welding machine Download PDFInfo
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- CN111659979A CN111659979A CN202010599466.3A CN202010599466A CN111659979A CN 111659979 A CN111659979 A CN 111659979A CN 202010599466 A CN202010599466 A CN 202010599466A CN 111659979 A CN111659979 A CN 111659979A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/10—Other electric circuits therefor; Protective circuits; Remote controls
- B23K9/1006—Power supply
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/095—Monitoring or automatic control of welding parameters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/16—Arc welding or cutting making use of shielding gas
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- Plasma & Fusion (AREA)
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- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
The invention discloses a power supply system of an argon arc welding machine, which relates to the technical field of steel part welding processing equipment and comprises a lithium battery and a management system, wherein the management system comprises a charge-discharge control system and an output control system, the charge-discharge control system comprises a battery sampling circuit and a PID (proportion integration differentiation) controller, and the output control system comprises a voltage filter circuit and a chopper circuit; calculating the acquired voltage and current by an adjusting algorithm in the PID controller and comparing the acquired voltage and current with an actual reference power to obtain a maximum charging power, and comparing an ideal maximum discharging electric power, a reference maximum discharging power and an adjusted maximum discharging power to obtain a maximum discharging power, so that the obtained charging power and the discharging power are more accurate; through carrying out voltage filtering to the lithium cell, pass through chopper circuit again, realize the output of welding required electric current, voltage to solve the circuit complicacy that present welding machine installed the lithium cell additional, the cost is higher problem.
Description
Technical Field
The invention relates to the technical field of steel part welding processing equipment, in particular to a power supply system of an argon arc welding machine.
Background
The argon arc welding technology is a welding technology which utilizes the protection of argon gas on metal welding materials on the basis of the principle of common electric arc welding, leads the welding materials to be melted into liquid on a welded base material through high current to form a molten pool, leads the welded metal and the welding materials to achieve metallurgical bonding, and can weld stainless steel and iron hardware metals because the argon gas is continuously fed in high-temperature melting welding to lead the welding materials not to be contacted with oxygen in the air, thereby preventing the oxidation of the welding materials; usually, the argon arc welding machine is powered by commercial power or a lithium battery is additionally arranged, and the main performance of the battery is the charging and discharging characteristics of the battery. Due to the high cost of power lithium ion batteries and the complexity of the internal structure, long-time charging and discharging can cause permanent damage to the lithium ion batteries: if over-discharge occurs, the internal structure of the device is easy to collapse, thereby causing capacity loss, performance reduction and service life reduction; the overcharge will make some lithium ions unable to be released any more, and the explosion will occur easily. Therefore, the charge and discharge of the lithium ion battery are reasonably and effectively controlled, and the lithium ion battery is complex in connection circuit and high in cost after being additionally provided with the lithium battery.
Disclosure of Invention
In order to solve the problems in the prior art, the lithium battery is arranged on the butt welding machine to supply power to the butt welding machine, the acquired voltage and current data are adjusted and calculated through an adjusting algorithm in the PID controller, the ideal maximum charging power is reduced, errors and deviations are reduced, meanwhile, the ideal maximum charging power is compared with the actual reference power, and the smaller power data are taken as the maximum charging power. The obtained charging power can be more accurate; meanwhile, the ideal maximum discharging electric power, the reference maximum discharging power and the regulated maximum discharging power are compared through a regulation algorithm of a PID controller, and the minimum power of the three is taken as the maximum discharging power of the lithium battery, so that the obtained discharging electric power is more accurate and more conforms to the actual condition of the battery; through carrying out voltage filtering to the lithium cell, pass through chopper circuit again, realize the output of welding required electric current, voltage to solve the circuit complicacy that present welding machine installed the lithium cell additional, the cost is higher, extravagant serious and be not portable's problem.
The invention specifically adopts the following technical scheme:
a power supply management system of an argon arc welding machine comprises a lithium battery for supplying power to the argon arc welding machine so as to manage the lithium battery, wherein the management system comprises a charge and discharge control system and an output control system, the charge and discharge control system comprises a battery sampling circuit and a PID (proportion integration differentiation) controller, the battery sampling circuit is used for collecting the voltage and the current of the lithium battery, the output end of the sampling circuit is electrically connected with the input end of the PID controller, and the PID controller is used for carrying out corresponding protection measures on the lithium battery after comparing the actual charging power and the actual discharging power of the lithium battery with the maximum charging power and the maximum discharging power of the lithium battery;
the output control system comprises a voltage filter circuit and a chopper circuit, the lithium battery is electrically connected with the voltage filter circuit and used for setting the output voltage of the lithium battery to the welding voltage required by welding of a welding machine, one end of an inductor in the chopper circuit is connected with the positive electrode of the lithium battery, the other end of the inductor is respectively and electrically connected with the positive electrode of a fast recovery diode D1 and the collector C of an IGBT (insulated gate bipolar transistor) Q1, the E electrode of the emitting electrode of the IGBT Q1 is electrically connected with the negative electrode of the lithium battery pack, and the B electrode of the base electrode is electrically connected with the PID controller through a driving circuit.
The PID controller compares the theoretical maximum charging power of the lithium battery with the reference maximum charging power of the lithium battery, and takes the minimum charging power between the theoretical maximum charging power and the reference maximum charging power of the lithium battery as the maximum charging power of the lithium battery; acquiring voltage and current of a lithium battery through the battery sampling circuit, and obtaining theoretical maximum charging power of the lithium battery through a regulation algorithm of the PID controller according to the voltage and the current; and obtaining the theoretical maximum charging power of the lithium battery by the maximum charging voltage and the maximum charging current of the lithium battery through an adjusting algorithm of the PID controller.
The PID controller compares the theoretical maximum discharge power of the lithium battery, the reference maximum discharge power of the lithium battery and the regulated maximum discharge power, and takes the minimum power of the three as the maximum discharge power of the lithium battery; acquiring voltage and current of a lithium battery through the battery sampling circuit, obtaining theoretical maximum discharge power of the lithium battery through a regulation algorithm of the PID controller according to the voltage and the current, and obtaining reference maximum discharge power of the lithium battery through a maximum discharge circuit and minimum discharge voltage of the lithium battery through a regulation algorithm of the PID controller; and obtaining continuous discharge power and instantaneous discharge power through the voltage and current continuously collected by the battery sampling circuit, and adjusting through an adjusting algorithm of the PID controller according to the continuous discharge power and the instantaneous discharge power to obtain the adjusted maximum discharge power.
The further scheme is that the PID controller carries out parameter setting through a cat swarm algorithm before use.
Further, the parameter setting comprises the following steps:
the parameter setting comprises the following steps:
s1: establishing a third-order time-lag model according to a target function to be optimized;
s2: initial setting of cat groups: the method comprises the following steps of (1) carrying out population size, population dimension, a Memory Pool (SMP), a gene variation range, maximum evolution times, population position of randomly initialized cats and initial values and ranges of controller parameters;
s3: sequentially assigning the position components of the cat group individuals in different dimensional spaces to a PID controller parameter Kp、Ki、KdRunning a simulation model, calculating an adaptive value of an initialization group according to a performance index function, and recording the position of the cat with the minimum adaptive value and the adaptive value of the cat;
s4: the method comprises the steps that cat groups are randomly grouped according to a Mixing Ratio (MR), the MR represents the proportion of the number of cats in a tracking group in the whole cat group, the size of the MR determines the global searching capacity and the local searching capacity of the whole algorithm, and the value is generally small so as to ensure the local searching capacity of the algorithm in the later iteration stage;
s5: when the cats are in the search group, copying the position of the cats according to the size of a memory pool (SMP), executing a genetic mutation operator, updating the SMP, calculating the fitness value of a variant individual in the SMP, replacing the position of the current cat with the variant individual with the minimum fitness value to finish the updating of the optimal value, and updating the position information of the cats in the tracking group according to the speed and position iterative formula of the cat group;
s6: recording and reserving the cat with the minimum fitness value in the population;
s7: judging whether a termination condition is met, if so, outputting an optimal solution, and ending the program; otherwise, repeating S4-S6 to perform the optimization iteration process.
The battery sampling circuit comprises a first resistor R1 and a second resistor R2, wherein the first end of the first resistor R1 is connected with the positive electrode of the lithium battery, the second end of the first resistor R1 is connected with the first end of the second resistor R2, and the second end of the second resistor R2 is used as the output end of the battery sampling circuit and is electrically connected with the PID controller.
The invention has the beneficial effects that:
the butt welding machine is provided with a lithium battery for supplying power, acquired voltage and current data are adjusted through an adjusting algorithm in the PID controller to calculate ideal maximum charging power, errors and deviations are reduced, and meanwhile, the ideal maximum charging power is compared with actual reference power, and smaller power data are taken as the maximum charging power. The obtained charging power can be more accurate; meanwhile, the ideal maximum discharging electric power, the reference maximum discharging power and the regulated maximum discharging power are compared through a regulation algorithm of a PID controller, and the minimum power of the three is taken as the maximum discharging power of the lithium battery, so that the obtained discharging electric power is more accurate and more conforms to the actual condition of the battery;
the output of current and voltage required by welding is realized by voltage filtering of the lithium battery and the chopper circuit, so that the problems of complex circuit, higher cost, serious waste and inconvenience in carrying existing in the existing welding machine for additionally installing the lithium battery are solved;
the cat swarm algorithm is applied to PID parameter adjustment, the cat swarm algorithm has good convergence rate and optimization capacity, and meanwhile, in the cat swarm algorithm, the cat swarm is divided into a searching group and a tracking group according to the grouping rate MR, so that the cat swarm algorithm has obvious advantages in precision and convergence rate.
Drawings
FIG. 1 is a schematic diagram of a battery sampling circuit according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a third order lag system control of the PID controller of the invention;
FIG. 3 is a schematic diagram of a process for tuning parameters of a PID controller by a cat swarm algorithm according to the invention;
FIG. 4 is a graph of performance index variation for an embodiment of the present invention;
FIG. 5 is a graph of performance index variation for particle swarm algorithm tuning PID controller parameters;
fig. 6 is a unit step response curve diagram corresponding to the optimal PID parameter in the embodiment of the present invention and the particle swarm optimization.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
The invention discloses a power supply system of an argon arc welding machine, which comprises a lithium battery for supplying power to the argon arc welding machine so as to manage the lithium battery, wherein the management system comprises a charge-discharge control system and an output control system, the charge-discharge control system comprises a battery sampling circuit and a PID (proportion integration differentiation) controller, as shown in figure 1, the battery sampling circuit comprises a first resistor R1 and a second resistor R2, a first end of the first resistor R1 is connected with the positive electrode of the lithium battery, a second end of the first resistor R1 is connected with a first end of the second resistor R2, and a second end of the second resistor R2 is used as the output end of the battery sampling circuit and is electrically connected with the PID controller; the battery sampling circuit is used for collecting the voltage and the current of the lithium battery, the output end of the sampling circuit is electrically connected with the input end of the PID controller, and the PID controller is used for carrying out corresponding protection measures on the lithium battery after comparing the actual charging power and the actual discharging power of the lithium battery with the maximum charging power and the maximum discharging power of the lithium battery;
the output control system comprises a voltage filter circuit and a chopper circuit, the lithium battery is electrically connected with the voltage filter circuit and used for setting the output voltage of the lithium battery to the welding voltage required by welding of a welding machine, one end of an inductor in the chopper circuit is connected with the positive electrode of the lithium battery, the other end of the inductor is respectively and electrically connected with the positive electrode of a fast recovery diode D1 and the collector C of an IGBT (insulated gate bipolar transistor) Q1, the E electrode of the emitting electrode of the IGBT Q1 is electrically connected with the negative electrode of the lithium battery pack, and the B electrode of the base electrode is electrically connected with the PID controller through a driving circuit.
In this embodiment, the PID controller compares the theoretical maximum charging power of the lithium battery with a reference maximum charging power of the lithium battery, and takes the minimum charging power therebetween as the maximum charging power of the lithium battery; acquiring voltage and current of a lithium battery through the battery sampling circuit, and obtaining theoretical maximum charging power of the lithium battery through a regulation algorithm of the PID controller according to the voltage and the current; and obtaining the theoretical maximum charging power of the lithium battery by the maximum charging voltage and the maximum charging current of the lithium battery through an adjusting algorithm of the PID controller.
In this embodiment, the PID controller compares the theoretical maximum discharge power of the lithium battery, the reference maximum discharge power of the lithium battery, and the adjusted maximum discharge power, and takes the minimum power of the three as the maximum discharge power of the lithium battery; acquiring voltage and current of a lithium battery through the battery sampling circuit, obtaining theoretical maximum discharge power of the lithium battery through a regulation algorithm of the PID controller according to the voltage and the current, and obtaining reference maximum discharge power of the lithium battery through a maximum discharge circuit and minimum discharge voltage of the lithium battery through a regulation algorithm of the PID controller; and obtaining continuous discharge power and instantaneous discharge power through the voltage and current continuously collected by the battery sampling circuit, and adjusting through an adjusting algorithm of the PID controller according to the continuous discharge power and the instantaneous discharge power to obtain the adjusted maximum discharge power.
In this embodiment, the PID controller performs parameter tuning through a cat swarm algorithm before use.
As shown in fig. 2-3, the parameter tuning includes the following steps:
s1: establishing a third-order time-lag model according to a target function to be optimized;
s2: initial setting of cat groups: the method comprises the following steps of (1) carrying out population size, population dimension, a Memory Pool (SMP), a gene variation range, maximum evolution times, population position of randomly initialized cats and initial values and ranges of controller parameters;
s3: sequentially assigning the position components of the cat group individuals in different dimensional spaces to a PID controller parameter Kp、Ki、KdRunning a simulation model, calculating an adaptive value of an initialization group according to a performance index function, and recording the position of the cat with the minimum adaptive value and the adaptive value of the cat;
s4: the method comprises the steps that cat groups are randomly grouped according to a Mixing Ratio (MR), the MR represents the proportion of the number of cats in a tracking group in the whole cat group, the size of the MR determines the global searching capacity and the local searching capacity of the whole algorithm, and the value is generally small so as to ensure the local searching capacity of the algorithm in the later iteration stage;
s5: when the cats are in the search group, copying the position of the cats according to the size of a memory pool (SMP), executing a genetic mutation operator, updating the SMP, calculating the fitness value of a variant individual in the SMP, replacing the position of the current cat with the variant individual with the minimum fitness value to finish the updating of the optimal value, and updating the position information of the cats in the tracking group according to the speed and position iterative formula of the cat group;
s6: recording and reserving the cat with the minimum fitness value in the population;
s7: judging whether a termination condition is met, if so, outputting an optimal solution, and ending the program; otherwise, repeating S4-S6 to perform the optimization iteration process.
In S1, the expression of the error signal e (t) in the PID control system is e (t) ═ r (t) — y (t), and the expression of the controlled variable u (t) is
Where y (t) is the actual output value, r (t) is a given target value, and the transfer function of the PID controller is
Wherein KpIs a proportional parameter; kiIn order to be the integral parameter(s),
Tiis an integration time constant; kdAs a differential parameter, Kd＝KpTd，TdIs the differential time constant.
K is defined for initialization in S2p、KiAnd KdAnd randomly initializing cat population positions within a defined range, and expressing the cat population positions by using a row vector Cx, wherein the population size n of the cat population optimization algorithm is 30, and the maximum iteration number t is t m50 and the packet rate MR 0.2.
In S3, an absolute value of error multiplied by time integral ITAE criterion is selected as a fitness function of the algorithm according to a mathematical model of a PID control system, and a specific expression is
Cat group in search mode in S5: the number of the copied cats in the memory pool is determined by the size of the fitness value, and the formula of the copied cats is as follows:
in the step S5, in order to avoid premature convergence of the cat swarm, a chaos mapping is used to optimize the cat swarm, and an update expression of the individual positions of the cat swarm in the tracking mode is as follows:
in the formula (I), the compound is shown in the specification,
tmthe maximum iteration number of the algorithm is obtained; parameter(s)
By the formula
And formula
Homochaos variable
Carrying out mutual mapping transformation;
the individual velocity update formula of the cat group in the tracking mode is as follows:
in the formula:
representing the velocity component of the kth cat in d-dimensional space after updating; r is [01]A random number in between; the weighting factor a is a constant.
In this embodiment, PID controller parameter range: kp∈[030]，Ki∈[030]，Kd∈[020](ii) a The weight coefficient a is 0.2.
By adopting the method for setting the PID control parameters, as can be seen from the figure 4, in the optimizing iteration process by utilizing the cat swarm algorithm, the performance index of the PID control system is continuously reduced along with the iteration times and finally converged. Compared with a performance index change curve graph for setting PID parameters by the particle swarm optimization shown in FIG. 5, the performance index change curve graph is not difficult to obtain, and the cat swarm optimization is not easy to fall into prematurity relative to the particle swarm optimization; the final converged performance index value is smaller than that of the particle swarm algorithm. As can be seen from fig. 6, compared with the particle swarm optimization, the control system after the PID controller parameter setting of the present invention has short system adjusting time and small overshoot.
Finally, only specific embodiments of the present invention have been described in detail above. The invention is not limited to the specific embodiments described above. Equivalent modifications and substitutions by those skilled in the art are also within the scope of the present invention. Accordingly, equivalent alterations and modifications are intended to be included within the scope of the invention, without departing from the spirit and scope of the invention.
Claims (6)
1. The utility model provides a power supply system of argon arc welding machine, is in order right including the lithium cell that is used for supplying power to argon arc welding machine the management system that the lithium cell managed, its characterized in that:
the management system comprises a charge and discharge control system and an output control system, the charge and discharge control system comprises a battery sampling circuit and a PID controller, the battery sampling circuit collects the voltage and the current of the lithium battery, the output end of the sampling circuit is electrically connected with the input end of the PID controller, and the PID controller carries out corresponding protection measures on the lithium battery after comparing the actual charging power and the actual discharging power of the lithium battery with the maximum charging power and the maximum discharging power of the lithium battery;
the output control system comprises a voltage filter circuit and a chopper circuit, the lithium battery is electrically connected with the voltage filter circuit and used for setting the output voltage of the lithium battery to the welding voltage required by welding of a welding machine, one end of an inductor in the chopper circuit is connected with the positive electrode of the lithium battery, the other end of the inductor is respectively and electrically connected with the positive electrode of a fast recovery diode D1 and the collector C of an IGBT (insulated gate bipolar transistor) Q1, the E electrode of the emitting electrode of the IGBT Q1 is electrically connected with the negative electrode of the lithium battery pack, and the B electrode of the base electrode is electrically connected with the PID controller through a driving circuit.
2. The power supply system of the argon arc welding machine according to claim 1, characterized in that:
the PID controller compares the theoretical maximum charging power of the lithium battery with the reference maximum charging power of the lithium battery, and takes the minimum charging power between the theoretical maximum charging power and the reference maximum charging power of the lithium battery as the maximum charging power of the lithium battery; acquiring voltage and current of a lithium battery through the battery sampling circuit, and obtaining theoretical maximum charging power of the lithium battery through a regulation algorithm of the PID controller according to the voltage and the current; and obtaining the theoretical maximum charging power of the lithium battery by the maximum charging voltage and the maximum charging current of the lithium battery through an adjusting algorithm of the PID controller.
3. The power supply system of the argon arc welding machine according to claim 1, characterized in that:
the PID controller compares the theoretical maximum discharge power of the lithium battery, the reference maximum discharge power of the lithium battery and the regulated maximum discharge power, and takes the minimum power of the three as the maximum discharge power of the lithium battery; acquiring voltage and current of a lithium battery through the battery sampling circuit, obtaining theoretical maximum discharge power of the lithium battery through a regulation algorithm of the PID controller according to the voltage and the current, and obtaining reference maximum discharge power of the lithium battery through a maximum discharge circuit and minimum discharge voltage of the lithium battery through a regulation algorithm of the PID controller; and obtaining continuous discharge power and instantaneous discharge power through the voltage and current continuously collected by the battery sampling circuit, and adjusting through an adjusting algorithm of the PID controller according to the continuous discharge power and the instantaneous discharge power to obtain the adjusted maximum discharge power.
4. The power supply system for argon arc welding machine according to any one of claims 1-3, characterized in that:
and before the PID controller is used, parameter setting is carried out through a cat swarm algorithm.
5. The power supply system of the argon arc welding machine according to claim 4, characterized in that:
the parameter setting comprises the following steps:
s1: establishing a third-order time-lag model according to a target function to be optimized;
s2: initial setting of cat groups: the method comprises the following steps of (1) carrying out population size, population dimension, a Memory Pool (SMP), a gene variation range, maximum evolution times, population position of randomly initialized cats and initial values and ranges of controller parameters;
s3: sequentially assigning the position components of the cat group individuals in different dimensional spaces to a PID controller parameter Kp、Ki、KdRunning a simulation model, calculating an adaptive value of an initialization group according to a performance index function, and recording the position of the cat with the minimum adaptive value and the adaptive value of the cat;
s4: the method comprises the steps that cat groups are randomly grouped according to a Mixing Ratio (MR), the MR represents the proportion of the number of cats in a tracking group in the whole cat group, the size of the MR determines the global searching capacity and the local searching capacity of the whole algorithm, and the value is generally small so as to ensure the local searching capacity of the algorithm in the later iteration stage;
s5: when the cats are in the search group, copying the position of the cats according to the size of a memory pool (SMP), executing a genetic mutation operator, updating the SMP, calculating the fitness value of a variant individual in the SMP, replacing the position of the current cat with the variant individual with the minimum fitness value to finish the updating of the optimal value, and updating the position information of the cats in the tracking group according to the speed and position iterative formula of the cat group;
s6: recording and reserving the cat with the minimum fitness value in the population;
s7: judging whether a termination condition is met, if so, outputting an optimal solution, and ending the program; otherwise, repeating S4-S6 to perform the optimization iteration process.
6. The power supply system of the argon arc welding machine according to claim 1, characterized in that:
the battery sampling circuit comprises a first resistor R1 and a second resistor R2, wherein the first end of the first resistor R1 is connected with the positive electrode of the lithium battery, the second end of the first resistor R1 is connected with the first end of the second resistor R2, and the second end of the second resistor R2 is used as the output end of the battery sampling circuit and is electrically connected with the PID controller.
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| CN115430889A (en) * | 2022-09-20 | 2022-12-06 | 中广核工程有限公司 | Wireless welding machine parameter configuration device |
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